//
// Created by lqk on 2022/2/21.
//

#ifndef QUADCEREBELLUM_STATEESTIMATOR_H
#define QUADCEREBELLUM_STATEESTIMATOR_H

#include "StateStructs.h"
#include "OrientationEstimator.h"
#include "PositionVelocityEstimator.h"

class StateEstimator {
public:
    StateEstimator(EstimatedState* const estimatedState): m_estimatedState(estimatedState), m_posVelEstimator(estimatedState),m_oriEstimator(estimatedState){}
    void Update();
private:
    EstimatedState* const m_estimatedState;
    PositionVelocityEstimator m_posVelEstimator;
    OrientationEstimator m_oriEstimator;
};


#endif //QUADCEREBELLUM_STATEESTIMATOR_H
